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Lifecycle refactor (#298)

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* no static initialization of states anymore

* make transition labels more descriptive

* introduce labeled keys

* define default transition keys

* fix memory management

* introduce service for transition graph

* export transition keys

* remove keys, transition id unique, label ambiguous

* semicolon for macro call
This commit is contained in:
Karsten Knese 2018-10-11 14:03:41 -07:00 • committed by GitHub
parent 9d4b1c9912
commit 5e3d4be720
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13 changed files with 933 additions and 659 deletions
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9
rcl_lifecycle/test/test_multiple_instances.cpp
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@ -26,8 +26,7 @@
#include "rcl/rcl.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "../src/default_state_machine.h"
#include "rcl_lifecycle/default_state_machine.h"
class TestMultipleInstances : public ::testing::Test
{
@ -62,15 +61,15 @@ protected:
void
test_trigger_transition(
rcl_lifecycle_state_machine_t * state_machine,
int key,
uint8_t key_id,
unsigned int expected_current_state,
unsigned int expected_goal_state)
{
EXPECT_EQ(
expected_current_state, state_machine->current_state->id);
EXPECT_EQ(
RCL_RET_OK, rcl_lifecycle_trigger_transition(
state_machine, key, false));
RCL_RET_OK, rcl_lifecycle_trigger_transition_by_id(
state_machine, key_id, false));
EXPECT_EQ(
expected_goal_state, state_machine->current_state->id);
}